[jreneew2]

We are running on the roboRIO. Have you taken a look at my code that i linked in the first post?

Relevant code:

    rotateToAngleRate = 0.0f;
    turnController = new frc::PIDController(kP, kI, kD, kF, this, this);
    turnController->SetInputRange(0.0f,  180.0f);
    turnController->SetOutputRange(0.2, 1.0);
    turnController->SetAbsoluteTolerance(kToleranceDegrees);
    turnController->SetContinuous(true);

    turnController->Enable();
    speedWhileRotating = rotateToAngleRate;
    std::cout << "speedWhileRotating: " << speedWhileRotating << std::endl;
    isRotDone = false;
    degreesToAngleAbs = fabs(degreesToAngle);